/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Heriot-Watt University, UK.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Heriot-Watt University nor the names of 
*     its contributors may be used to endorse or promote products 
*     derived from this software without specific prior written
*     permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  Author: Joel Cartwright
*
*********************************************************************/

#ifndef _OSLCORE_CONFIGWRAPPER_H_
#define _OSLCORE_CONFIGWRAPPER_H_

#include <string>
#include <ros/ros.h>

namespace osl_core
{

class ConfigWrapper
{
public:
	ConfigWrapper();
	virtual ~ConfigWrapper();

	bool initROSParam(ros::NodeHandlePtr handle, const std::string &basename);

	std::string olibINIParamToROSParam(const std::string &name, const std::string &section);

	/**
	 * Gets an integer from the ini file.
	 * Prints an error message on failure.
	 *
	 * @return false on failure, true otherwise
	 */
	bool getInt(int &var, const std::string &name, const std::string &section);

	/**
	 * Gets a float from the ini file.
	 * Prints an error message on failure.
	 *
	 * @return false on failure, true otherwise
	 */
	bool getFloat(float &var, const std::string &name, const std::string &section);

	/**
	 * Gets a double from the ini file.
	 * Prints an error message on failure.
	 *
	 * @return false on failure, true otherwise
	 */
	bool getDouble(double &var, const std::string &name, const std::string &section);


	bool getIntCached(int &var, const std::string &name, const std::string &section);
	bool getFloatCached(float &var, const std::string &name, const std::string &section);
	bool getDoubleCached(double &var, const std::string &name, const std::string &section);
	bool getStringCached(std::string &var, const std::string &name, const std::string &section);
	bool getBoolCached(bool &var, const std::string &name, const std::string &section);

	/**
	 * Gets a string from the ini file.
	 * Prints an error message on failure.
	 *
	 * @return false on failure, true otherwise
	 */
	bool getString(std::string &var, const std::string &name, const std::string &section);


	/**
	 * Gets a boolean from the ini file.
	 * Prints an error message on failure.
	 *
	 * @return false on failure, true otherwise
	 */
	bool getBool(bool &var, const std::string &name, const std::string &section);

	void setInt(int var, const std::string &name, const std::string &section);

	void setFloat(float var, const std::string &name, const std::string &section);

	void setDouble(double var, const std::string &name, const std::string &section);

	void setString(const std::string &var, const std::string &name, const std::string &section);

	void setBool(bool var, const std::string &name, const std::string &section);

	/**
	 * Prints a warning about a missing INI parameter.
	 *
	 */
	inline void printNoParam(const std::string &name, const std::string &section);

	bool save();

private:
	bool usingINIFile_;
	bool initCalled_;

	ros::NodeHandlePtr rosHandle_;
	std::string rosParamBase_;

};

} // namespace

#endif
